In this paper, a numerical method for vehicle-track interaction analysis is developed to evaluate vertical dynamic force subjected to rail surface. A vehicle is modelled by lumped masses system and track by multi layered continuous beam system. The equation of motion of vehicle and track interaction system is derived by considering compatibility condition at the contact points between wheel and rail. The input vibration source is given by the empirical formula of power spectral density of track irregularity, which is suggested by FRA. Using this method, dynamic impact factors with the train speed are evaluated.